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2025年图文详解CAN Log文件 - ASC文件格式

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图文详解CAN Log文件 - ASC文件格式目录 1 CAN Log 文件 ASC 文件格式 1 1 Header 1 2 版本编号 1 3 经典 CAN 网络中的描述 1 3 1 经典 CAN Standard 标准帧的描述 1 3 2 经典 CAN Extended 扩展帧的描述 1 3 3 CAN Remote 远程帧的描述 1 3 4 CAN Error 错误帧的描述 1 4

大家好，我是讯享网，很高兴认识大家。

目录

1 CAN Log文件 -- ASC文件格式

1.1 Header

1.2 版本编号

1.3 经典CAN网络中的描述

1.3.1 经典CAN Standard标准帧的描述

1.3.2 经典CAN Extended扩展帧的描述

1.3.3 CAN Remote远程帧的描述

1.3.4 CAN Error错误帧的描述

1.4 CANFD网络中的描述

1.4.1 经典CAN Standard标准帧的描述

1.4.2 经典CAN Extended扩展帧的描述

1.4.3 CANFD Standard标准帧的描述

1.4.4 CANFD Extended扩展帧的描述

1.4.5 CAN Remote远程帧的描述

1.4.6 CAN Error错误帧的描述

1.5 换行

2 小结：如何分辨CAN Log文件中的“标准帧”和“扩展帧”

2.1 经典CAN网络中的标准帧和扩展帧

2.2 CANFD网络中的标准帧和扩展帧

结尾

优质博文推荐阅读（单击下方链接，即可跳转）：

Vector工具链

CAN Matrix DBC

CAN Matrix Arxml

Vector提供了两种记录数据格式的格式规范：BLF和ASC。在Vector提供的CAN_LOG_TRIGGER_ASC_Format.pdf文件中，规定了CANoe/CANalyzer ASC记录中CAN、Log和Trigger event的格式。

1 CAN Log文件 -- ASC文件格式

1.1 Header

一个ASCII格式的日志文件以一个header开始。header包含关于日志文件的一般信息。

Format

date <WeekDay> <Month> <Date> <Fulltime> <Year>

base <hex |dec> timestamps <absolute |relative>

<”” |no> internal events logged

Example

date Wed Apr 16 09:21:13.159 am 2014

base hex timestamps absolute

internal events logged

base：表示记录的数值是hex十六进制或dec十进制的符号。

timestamps：表示时间戳是absolute绝对写入测量的开始时间还是relative相对于前一个事件。

internal：events logged表示是否记录了内部事件。

1.2 版本编号

从CANalyzer/CANoe v7.0开始，版本号以注释的形式写在Header之后：

Format Since v7.0

// version <major>.<minor>.<patch>

Example

// version 8.2.1

<major>.<minor>表示CANalyzer/CANoe的版本号

<patch>表示CANalyzer/CANoe主版本中的修改版本（如服务包中的修改）。

1.3 经典CAN网络中的描述

该部分列出了CANoe/CANalyzer ASC记录中的所有CAN event。

1.3.1 经典CAN Standard标准帧的描述

Format since v8.0

<Time> <Channel> <ID> <Dir> d <DLC> <D0> <D1>...<D8> Length = <MessageDuration> BitCount = <MessageLength> ID = <IDnum> <MessageFlags>

Example

0.003040  1  123  Tx   d 2 00 00  Length = BitCount = 67 ID = 291

ID：表示CANID的十六进制值；

Length：表示发送/接收该Frame/Message占据总线的时间，单位纳秒；

BitCount：表示发送/接收该Frame/Message由多少各Bit构成；

IDnum：表示CANID的十进制值。

举例：


讯享网

date Mon Apr 10 02:24:54.471 pm 2023 base hex timestamps absolute internal events logged // version 11.0.0 0.036886 CAN 1 Status:chip status error active 0.036886 CAN 2 Status:chip status error active 0. 1 211 Tx d 8 00 00 00 00 00 00 00 00 Length =  BitCount = 124 ID = 529 0. 1 211 Tx d 8 00 00 00 00 00 00 00 00 Length =  BitCount = 124 ID = 529 0. 1 211 Tx d 8 00 00 00 00 00 00 00 00 Length =  BitCount = 124 ID = 529 0. 1 211 Tx d 8 00 00 00 00 00 00 00 00 Length =  BitCount = 124 ID = 529

讯享网

1.3.2 经典CAN Extended扩展帧的描述

Format since v8.0

<Time> <Channel> <ID>x <Dir> d <DLC> <D0> <D1>...<D8> Length = <MessageDuration> BitCount = <MessageLength> ID = <IDnum>x    <MessageFlags>

Example

4.  1  54C5638x  Tx   d 8 00 00 00 00 00 00 00 00  Length = BitCount = 145 ID = x

与经典CAN标准帧的差异: ID和IDnum后带字符x。

举例：

讯享网date Mon Apr 10 02:28:37.439 pm 2023 base hex timestamps absolute internal events logged // version 11.0.0 0.021151 CAN 1 Status:chip status error active 0.021151 CAN 2 Status:chip status error active 0. 1 211x Tx d 8 00 00 00 00 00 00 00 00 Length =  BitCount = 148 ID = 529x 0. 1 211x Tx d 8 00 00 00 00 00 00 00 00 Length =  BitCount = 148 ID = 529x 0. 1 211x Tx d 8 00 00 00 00 00 00 00 00 Length =  BitCount = 148 ID = 529x 0. 1 211x Tx d 8 00 00 00 00 00 00 00 00 Length =  BitCount = 148 ID = 529x

1.3.3 CAN Remote远程帧的描述

Format since v8.5

<Time> <Channel> <ID> <Dir> r <DLC> Length = <MessageDuration> BitCount = <MessageLength> ID = <IDnum>x

Example

2.5010  1  200  Tx   r 8 Length = BitCount = 145 ID = x

与经典CAN标准/扩展帧的差异:没有<D0> <D1>...<D8>。

举例：

date Mon Apr 10 02:31:19.810 pm 2023 base hex timestamps absolute internal events logged // version 11.0.0 0.041478 CAN 1 Status:chip status error active 0.041478 CAN 2 Status:chip status error active 0. 1 211 Tx r 8 Length = 88015 BitCount = 47 ID = 529 0. 1 211x Tx r 8 Length =  BitCount = 70 ID = 529x 0. 1 211x Tx r 8 Length =  BitCount = 70 ID = 529x 0. 1 211 Tx r 8 Length = 88015 BitCount = 47 ID = 529

1.3.4 CAN Error错误帧的描述

CAN Error Frame

Format since v7.5

Interfaces with CAN-Core:

<Time> <Channel> ErrorFrame Flags = <flags> CodeExt = <codeExt> Code = <code> ID = <ID> DLC = <DLC> Position = <Position> Length = <Length>

Flags：

定义参数Code, CodeExt, ID, DLC, Position和Length的有效性的Bit field。Bit含义：

0：SJA 1000 ECC是有效的

1：矢量CAN核心错误代码有效

2：矢量CAN核心错误位置有效

3：矢量CAN核心帧长度（ns）有效

Code：

Vector CAN-Core的Bit含义：

Bit 0-5：

0: Bit Error

1: Form Error

2: Stuff Error

3: Other Error

4: CRC Error

5: Ack-Del-Error

7: Ack-Error

Bit 6-7：

0: RX-NAK-Error

1: TX-NAK-Error

2: RX-Error

3: TX-Error

CodeExt：Extended error flags

Bit 0-4：Segment (only SJA1000)

Bit 5：Direction, 1=RX

Bit 6-11：Error Code

0  Bit Error

1  Form Error

2  Stuff Error

3  Other Error

4  CRC Error

5  ACK- DEL Error

7  ACK Error

Bit 12-13：Extended Direction

0  RX NAK

1  TX NAK

2  RX

3  TX

Bit 14：1 =错误帧由应用程序发送

备注

1 只对带有Vector CAN-Core的接口有效（CANcardXLe, VN7600, VN16xx, VN89xx和其他）。

2 ID、DLC和data field的有效性取决于干扰的类型和位置。

例如： 如果信息在ID- field受到干扰，那么只有ID的第一个Bit可能有效，但DLC和data field无效。错误位置不是干扰的位置。

例如： 如果错误位置位于CRC-field，那么信息可能在任何其他field受到干扰，错误的CRC是该干扰的结果。

Examples

1. 2  ErrorFrame Flags = 0xe  CodeExt = 0x20a2  Code = 0x82  ID = 0 DLC = 0 Position = 5 Length = 11300

CAN Error Event

Format

<Time> CAN <Channel> Status:<Error>

<Time> CAN <Channel> Status:<Error> - TxErr: <TxCount> RxErr: <RxCount>

TxCount：

transmit error count寄存器的值

RxCount：

receive error count寄存器的值

Example

0.0006 CAN 2 Status:chip status error active

2137. CAN 2 Status:chip status error active - TxErr: 8 RxErr: 0

举例：

讯享网date Mon Apr 10 02:33:32.536 pm 2023 base hex timestamps absolute internal events logged // version 11.0.0 0.014704 CAN 1 Status:chip status error active 0.014704 CAN 2 Status:chip status error active 0. CAN 1 Status:chip status error active - TxErr: 8 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status error active - TxErr: 16 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status error active - TxErr: 24 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status error active - TxErr: 32 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status error active - TxErr: 40 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status error active - TxErr: 48 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status error active - TxErr: 56 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status error active - TxErr: 64 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status error active - TxErr: 72 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status error active - TxErr: 80 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status error active - TxErr: 88 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status warning level - TxErr: 96 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status warning level - TxErr: 104 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status warning level - TxErr: 112 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status warning level - TxErr: 120 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 0. CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0 0. 1 ErrorFrame Flags = 0xfffe CodeExt = 0x31d9 Code = 0xc7 ID = 0x211 DLC = 8 Position = 99 Length =  Data = 0 0 0 0 0 0 0 0 1.014705 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0 1.014705 CAN 2 Status:chip status error active 2.014705 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0 2.014705 CAN 2 Status:chip status error active 3.014705 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0 3.014705 CAN 2 Status:chip status error active 4.014706 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0 4.014706 CAN 2 Status:chip status error active 5.014706 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0 5.014706 CAN 2 Status:chip status error active

1.4 CANFD网络中的描述

该部分列出了CANoe/CANalyzer ASC记录中的所有经典CAN event和CAN FD channel上的CAN FD event。

1.4.1 经典CAN Standard标准帧的描述

Format since v8.1

<Time> CANFD <Channel> <Dir> <ID> <SymbolicName> <BRS> <ESI> <DLC> <DataLength> <D1> … <D8> <MessageDuration> <MessageLength> <Flags> <CRC> <BitTimingConfArb> <BitTimingConfData> <BitTimingConfExtArb> <BitTimingConfExtData>

Example

0. CANFD  1  Tx   1  0 0 1  1  01    59    39b5    460a0250    

ID：表示CANID的十六进制值；

BRS：表示CANFD Frame的BRS位；

ESI：表示CANFD Frame的DEI位；

DLC：表示CANFD Frame的控制段DTC；

DataLength：message的有效长度，以字节为单位。

MessageDuration：表示发送/接收该Frame/Message占据总线的时间，单位纳秒；

MessageLength：表示发送/接收该Frame/Message由多少各Bit构成；

Flags：Bit含义

  • Bit 0: Reserved, must be 0
  • Bit 1: Reserved, for internal use
  • Bit 2: 1=NERR (1=single wire on low speed CAN)
  • Bit 3: 1=High voltage wake up
  • Bit 4: 1=Remote frame (only CAN)
  • Bit 5: Reserved, must be 0
  • Bit 6: 1= Tx Acknowledge
  • Bit 7: 1= Tx Request
  • Bit 8: Reserved, must be 0
  • Bit 9: SRR (CAN FD)
  • Bit 10: R0
  • Bit 11: R1
  • Bit 12: FDF bit  0: CAN frame 1: CAN FD frame
  • Bit 13: BRS bit (CAN FD)
  • Bit 14: ESI bit (CAN FD)
  • Bit 15: Reserved, must be 0
  • Bit 16: Reserved, must be 0
  • Bit 17: 1= Frame is part ofa burst
  • Bit 18: Single shot mode: Frame could not be transmitted
  • Bit 19: Single shot mode: If bit 18 set to 1, then this bit reports the reason.0 = arbitration lost 1=frame disturbed
  • Bit 20: Reserved, for internal use
  • Bit 21: Reserved, for internal use
  • Bit 22 -31: Reserved, must be 0

CRC：message的校验和；

  • Bit 0 – 20: CRC
  • Bit 21 – 26: Reserved for internal use
  • Bit 27 – 29: Stuff count field
  • Bit 30: Stuff count field parity
  • Bit 31: ISO format. 如果设置为1，那么该报文是CAN FD ISO格式，并且stuff count是有效的.

BitTimingConfArb和BitTimingConfData：指的是用于仲裁和数据段的bit timing参数。这些段可以解释为32位长的bit field。

  • Bit 0-7: Quartz Frequency in kHz
  • Bit 8-15: Prescaler
  • Bit 16-23: BTL Cycles
  • Bit 24-31: Sampling Point

BitTimingConfExtArb和BitTimingConfExtData：bit timing存储在该段中。如果bit timing不能以旧格式存储，那么<BitTimingConfArb>、<BitTimingConfData>将被设置为0。

  • Bit 0 – 7: TSEG1-1
  • Bit 8 – 15: TSEG2-1
  • Bit 16 – 27: Prescaler
  • Bit 28 – 31: Quartz Frequency (enumeration). Supported values: 0: 16 MHz, 1: 32 MHz, 2: 80 MHz

举例：

date Mon Apr 10 02:38:41.859 pm 2023 base hex timestamps absolute internal events logged // version 11.0.0 0.038849 CAN 1 Status:chip status error active 0.038849 CAN 2 Status:chip status error active 0. CANFD 1 Tx 211 0 0 8 8 00 00 00 00 00 00 00 00  124  2a8f 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211 0 0 8 8 00 00 00 00 00 00 00 00  124  2a8f 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211 0 0 8 8 00 00 00 00 00 00 00 00  124  2a8f 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211 0 0 8 8 00 00 00 00 00 00 00 00  124  2a8f 50a00150  20001f7e 20000b1a

1.4.2 经典CAN Extended扩展帧的描述

Format since v8.1

<Time> CANFD <Channel> <Dir> <ID> <SymbolicName> <BRS> <ESI> <DLC> <DataLength> <D1> … <D8> <MessageDuration> <MessageLength> <Flags> <CRC> <BitTimingConfArb> <BitTimingConfData> <BitTimingConfData> <BitTimingConfExtArb>  <BitTimingConfExtData>

Example

0. CANFD  2  Rx  10001x  0 0 1  1  01    82    149a  460a0250   

各字段的解释详见“1.4.1 经典CAN Standard标准帧的描述”。

举例：

讯享网date Mon Apr 10 02:42:26.030 pm 2023 base hex timestamps absolute internal events logged // version 11.0.0 0.035889 CAN 1 Status:chip status error active 0.035889 CAN 2 Status:chip status error active 0. CANFD 1 Tx 211x 0 0 8 8 00 00 00 00 00 00 00 00  148  37b 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211x 0 0 8 8 00 00 00 00 00 00 00 00  148  37b 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211x 0 0 8 8 00 00 00 00 00 00 00 00  148  37b 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211x 0 0 8 8 00 00 00 00 00 00 00 00  148  37b 50a00150  20001f7e 20000b1a

1.4.3 CANFD Standard标准帧的描述

Format since v8.1

<Time> CANFD <Channel> <Dir> <ID> <SymbolicName> <BRS> <ESI> <DLC> <DataLength> <D1> … <D64> <MessageDuration> <MessageLength> <Flags> <CRC> <BitTimingConfArb> <BitTimingConfData> <BitTimingConfExtArb> <BitTimingConfExtData>

Example

0. CANFD  1  Tx   2  0 0 2  2  02 03    78    10151    460a0250   

各字段的解释详见“1.4.1 经典CAN Standard标准帧的描述”。

举例：

date Mon Apr 10 02:48:53.277 pm 2023 base hex timestamps absolute internal events logged // version 11.0.0 0.046804 CAN 1 Status:chip status error active 0.046804 CAN 2 Status:chip status error active 0. CANFD 1 Tx 211 1 0 8 8 00 00 00 00 00 00 00 00  139  ff 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211 1 0 8 8 00 00 00 00 00 00 00 00  139  ff 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211 1 0 8 8 00 00 00 00 00 00 00 00  139  ff 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211 1 0 8 8 00 00 00 00 00 00 00 00  139  ff 50a00150  20001f7e 20000b1a

1.4.4 CANFD Extended扩展帧的描述

Format since v8.1

<Time> CANFD <Channel> <Dir> <ID> <SymbolicName> <BRS> <ESI> <DLC> <DataLength> <D1> … <D64> <MessageDuration> <MessageLength> <Flags> <CRC> <BitTimingConfArb> <BitTimingConfData> <BitTimingConfExtArb> <BitTimingConfExtData>

Example

0. CANFD  2  Rx  10001x  0 0 1  1  01    91    bfd9    460a0250    

各字段的解释详见“1.4.1 经典CAN Standard标准帧的描述”。

举例：

讯享网date Mon Apr 10 02:49:57.722 pm 2023 base hex timestamps absolute internal events logged // version 11.0.0 0.018020 CAN 1 Status:chip status error active 0.018020 CAN 2 Status:chip status error active 0. CANFD 1 Tx 211x 1 0 8 8 00 00 00 00 00 00 00 00  161  80016b85 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211x 1 0 8 8 00 00 00 00 00 00 00 00  161  80016b85 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211x 1 0 8 8 00 00 00 00 00 00 00 00  161  80016b85 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211x 1 0 8 8 00 00 00 00 00 00 00 00  161  80016b85 50a00150  20001f7e 20000b1a

1.4.5 CAN Remote远程帧的描述

Format

<Time> CANFD <Channel> <Dir> <ID> <SymbolicName> <BRS> <ESI> <DLC> <DataLength> <MessageDuration> <MessageLength> <Flags> <CRC>  <BitTimingConfArb> <BitTimingConfData> <BitTimingConfData>  <BitTimingConfExtArb>  <BitTimingConfExtData>

Example

0. CANFD  1  Tx   50005x  0 0 5  0   73    7a60   460a0250    

各字段的解释详见“1.4.1 经典CAN Standard标准帧的描述”。

举例：

date Mon Apr 10 02:52:19.883 pm 2023 base hex timestamps absolute internal events logged // version 11.0.0 0.026889 CAN 1 Status:chip status error active 0.026889 CAN 2 Status:chip status error active 0. CANFD 1 Tx 211 0 0 8 0 88015 47  2c3a 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211x 0 0 8 0  70  6a2a 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211x 0 0 8 0  70  6a2a 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211 0 0 8 0 88015 47  2c3a 50a00150  20001f7e 20000b1a

1.4.6 CAN Error错误帧的描述

CAN FD Error Frame

Format

<Time> CANFD <Channel> <Dir> ErrorFrame <ErrorText> <flags> <code> <codeExt> <Phase> <Position> <ID> <BRS> <ESI> <DLC> <DataLength> <D1> … <D64>  <MessageDuration>  <extFlags>  <CRC>  <BitTimingConfArb> <BitTimingConfData> <BitTimingConfExtArb>  <BitTimingConfExtData>  <extFlags>:

extFlags(Extended error flags)：

Bit 0：0: FDF is 0 (CAN Error Frame)；1: FDF is 1 (CAN FD Error Frame)

Bit 1：0: BRS is 0；1: BRS is 1

Bit 2：0: ESI is 0；1: ESI is 1

Bit 3：0: Error in Arbitration Phase；1: Error in Data Phase

Bit 4：0: Error is on a CAN channel；1: Error is on a CAN FD channel

all others：reserved, must be set to 0

Example:

Classic

CAN

0.051203 CANFD  1  Rx  ErrorFrame Stuff Error  fffe 82  20a2 Arb.5  0  0 0 0  0  11984  10  0  460a0250    

Example:

CAN FD

10.006898 CANFD  1 Tx  ErrorFrame Not Acknowledge error, dominant error flag       fffe c7  31ca Arb.556  44  0 0 f  64  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00    11  0       460a0250    

各字段的解释详见“1.4.1 经典CAN Standard标准帧的描述”。

举例：

讯享网date Mon Apr 10 02:55:04.694 pm 2023 base hex timestamps absolute internal events logged // version 11.0.0 0.036456 CAN 1 Status:chip status error active 0.036456 CAN 2 Status:chip status error active 0. CAN 1 Status:chip status error active - TxErr: 8 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status error active - TxErr: 16 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status error active - TxErr: 24 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status error active - TxErr: 32 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status error active - TxErr: 40 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status error active - TxErr: 48 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status error active - TxErr: 56 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status error active - TxErr: 64 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status error active - TxErr: 72 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status error active - TxErr: 80 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status error active - TxErr: 88 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status warning level - TxErr: 96 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status warning level - TxErr: 104 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status warning level - TxErr: 112 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status warning level - TxErr: 120 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 0. CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0 0. CANFD 1 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31da Arb. 109 211 1 0 8 8 00 00 00 00 00 00 00 00 93015 13 f 50a00150  20001f7e 20000b1a 1.036456 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0 1.036456 CAN 2 Status:chip status error active 2.036457 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0 2.036457 CAN 2 Status:chip status error active 3.036457 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0 3.036457 CAN 2 Status:chip status error active

1.5 换行

换行是用CR+LF表示的编码。

2 小结：如何分辨CAN Log文件中的“标准帧”和“扩展帧”

2.1 经典CAN网络中的标准帧和扩展帧

经典CAN网络中的标准帧和扩展帧的差异:

  • 经典CAN标准帧的ID和IDnum字段后不带字符x；
  • 经典CAN扩展帧的ID和IDnum字段后带字符x。

举例：

date Mon Apr 10 04:24:18.233 pm 2023 base hex timestamps absolute internal events logged // version 11.0.0 0.028996 CAN 1 Status:chip status error active 0.028996 CAN 2 Status:chip status error active 0. 1 211 Tx d 8 00 00 00 00 00 00 00 00 Length =  BitCount = 124 ID = 529 0. 1 211x Tx d 8 00 00 00 00 00 00 00 00 Length =  BitCount = 148 ID = 529x 0. 1 211x Tx d 8 00 00 00 00 00 00 00 00 Length =  BitCount = 148 ID = 529x 0. 1 211 Tx d 8 00 00 00 00 00 00 00 00 Length =  BitCount = 124 ID = 529

2.2 CANFD网络中的标准帧和扩展帧

CANFD网络中，可能同时存在：经典CAN标准帧，经典CAN扩展帧，CANFD标准帧，CANFD扩展帧。

  • 经典CAN/CANFD标准帧的ID字段后不带字符x；
  • 经典CAN/CANFD扩展帧的ID字段后带字符x；
  • Flags字段的的Bit 12: FDF bit，其0表示经典CAN frame；1表示CAN FD frame。

举例：

讯享网date Mon Apr 10 03:28:33.279 pm 2023 base hex timestamps absolute internal events logged // version 11.0.0 0.008330 CAN 1 Status:chip status error active 0.008330 CAN 2 Status:chip status error active 0. CANFD 1 Tx 211 1 0 8 8 00 00 00 00 00 00 00 00  139  ff 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211x 1 0 8 8 00 00 00 00 00 00 00 00  161  80016b85 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211 0 0 8 8 00 00 00 00 00 00 00 00  124  2a8f 50a00150  20001f7e 20000b1a 0. CANFD 1 Tx 211x 0 0 8 8 00 00 00 00 00 00 00 00  148  37b 50a00150  20001f7e 20000b1a

结尾

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